Bis[2-(2-fur­yl)-1-(2-furylmeth­yl)-1H-benzimidazole-κN 3]diiodidocadmium

In the title complex, [CdI2(C16H12N2O2)2], the CdII atom is located on a twofold rotation axis and is four-coordinated by two N atoms from symmetry-related 2-(2-fur­yl)-1-(2-furyl­meth­yl)-1H-benzimidazole ligands and two I atoms in a distorted tetra­hedral configuration. The benzimidazole rings in adjacent mol­ecules are parallel, with an average inter­planar distance of 3.486 Å. The I atom is disordered over two sites in a 0.85 (5):0.15 (5) ratio

Poly[[tetra­aqua­bis­(μ3-5-carboxybenzene-1,2,4-tri­carboxyl­ato)tricadmium] tetra­hydrate]

There are three independent CdII ions in the title complex, {[Cd3(C10H3O8)2(H2O)4]·4H2O}n, one of which is coordinated by four O atoms from three 5-carboxybenzene-1,2,4-tri­carboxyl­ate ligands and by two water mol­ecules in a distorted octa­hedral geometry. The second CdII ion is coordinated by five O atoms from four 5-carboxybenzene-1,2,4-tri­carboxyl­ate ligands and by one water mol­ecule also in a distorted octa­hedral geometry while the third CdII ion is coordinated by five O atoms from three 5-carboxybenzene-1,2,4-tri­carboxyl­ate ligands and by one water mol­ecule in a highly distorted octa­hedral geometry. The 5-carboxybenzene-1,2,4-tri­carboxyl­ate ligands bridge the CdII ions, resulting in the formation of a three-dimensional structure. Intra- and inter­molecular O—H⋯O hydrogen bonds are present throughout the three-dimensional structure

QuadricsNet: Learning Concise Representation for Geometric Primitives in Point Clouds

This paper presents a novel framework to learn a concise geometric primitive representation for 3D point clouds. Different from representing each type of primitive individually, we focus on the challenging problem of how to achieve a concise and uniform representation robustly. We employ quadrics to represent diverse primitives with only 10 parameters and propose the first end-to-end learning-based framework, namely QuadricsNet, to parse quadrics in point clouds. The relationships between quadrics mathematical formulation and geometric attributes, including the type, scale and pose, are insightfully integrated for effective supervision of QuaidricsNet. Besides, a novel pattern-comprehensive dataset with quadrics segments and objects is collected for training and evaluation. Experiments demonstrate the effectiveness of our concise representation and the robustness of QuadricsNet. Our code is available at \url{https://github.com/MichaelWu99-lab/QuadricsNet}Comment: Submitted to ICRA 2024. 7 page

Bis[4-(2-hy­droxy­benzyl­idene­amino)­benzoato-κO 1]tetra­kis­(methanol-κO)cadmium

In the title mononuclear complex, [Cd(C14H10NO3)2(CH3OH)4], the Cd2+ cation is situated on an inversion centre. It exhibits a distorted octa­hedral coordination, defined by two carboxyl­ate O atoms from two monodentate anions and by four O atoms from four methanol mol­ecules. The crystal structure comprises intra­molecular O—H⋯O and O—H⋯N, and inter­molecular O—H⋯O hydrogen bonds. The latter help to construct a layered structure extending parallel to (100)

Diaqua­bis­{1-[(1H-benzimidazol-2-yl)meth­yl]-1H-imidazole-κN 3}dichlorido­cadmium hexa­hydrate

In the title complex, [CdCl2(C11H10N4)2(H2O)2]·6H2O, the CdII atom is located on a twofold rotation axis and is coordinated by two N atoms from two 1-[(1H-benzimidazol-2-yl)meth­yl]-1H-imidazole ligands and two water O atoms in equatorial positions and by two Cl atoms in axial positions, leading to an elongated octa­hedral environment. The two coordinating and two of the lattice water mol­ecules are also located on twofold rotation axes. In the crystal, complex mol­ecules and solvent water mol­ecules are linked through a complex inter­molecular N—H⋯O, O—H⋯N, O—H⋯O and O—H⋯Cl hydrogen-bonding scheme into a three-dimensional network

Dichloridobis[2-(2-fur­yl)-1-(2-furylmeth­yl)-1H-benzimidazole-κN 3]cadmium(II)

In the title complex, [CdCl2(C16H12N2O2)2], the CdII ion exhibits site symmetry 2. It shows a distorted tetra­hedral coordination defined by two N atoms from symmetry-related 2-(2-fur­yl)-1-(2-furylmeth­yl)-1H-benzimidazole ligands and by two symmetry-related Cl atoms. Intra­molecular C—H⋯O hydrogen bonds stabilize the mol­ecular configuration. Adjacent mol­ecules are linked through C—H⋯Cl hydrogen bonds into a network structure

2D-3D Pose Tracking with Multi-View Constraints

Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on addressing the cross-modal gaps, estimating camera poses frame by frame without considering the relationship between adjacent frames, which makes the pose tracking unstable. To alleviate this, we propose to couple the 2D-3D correspondences between adjacent frames using the 2D-2D feature matching, establishing the multi-view geometrical constraints for simultaneously estimating multiple camera poses. Specifically, we propose a new 2D-3D pose tracking framework, which consists: a front-end hybrid flow estimation network for consecutive frames and a back-end pose optimization module. We further design a cross-modal consistency-based loss to incorporate the multi-view constraints during the training and inference process. We evaluate our proposed framework on the KITTI and Argoverse datasets. Experimental results demonstrate its superior performance compared to existing frame-by-frame 2D-3D pose tracking methods and state-of-the-art vision-only pose tracking algorithms. More online pose tracking videos are available at \url{https://youtu.be/yfBRdg7gw5M}Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessibl

Azido­{2-[bis­(2-hy­droxy­eth­yl)amino]­ethano­lato-κ4 N,O,O′,O′′}cobalt(II)

In the title complex, [Co(C6H14NO3)(N3)] or [Co(teaH2)N3], the CoII atom resides in a trigonal–bipymidal O3N2 environment formed by three O atoms and one N atom from a simply deprotonated tetra­dentate triethano­lamine ligand, and one N atom from an azide ligand. The O atoms define the equatorial plane whereas both N atoms are in axial positions. The mononuclear units are linked through O—H⋯O hydrogen-bonding inter­actions between the ethanol OH groups and the ethano­late O atom of a neighbouring complex into chains running parallel to [010]

Bis{1-[(1H-benzimidazol-1-yl)methyl-κN 3]-1H-1,2,3,4-tetra­zole}silver(I) nitrate

In the title salt, [Ag(C9H8N6)2]NO3, the central AgI atom is linearly coordinated by the N atoms [171.97 (8)°] from two 1-[(benzimidazol-1-yl)meth­yl]-1H-1,2,3,4-tetra­zole ligands. The benzimidazole rings in adjacent mol­ecules are parallel with an average inter­planar distance of 3.461 Å; adjacent mol­ecules are linked through N—H⋯O hydrogen bonds into a linear chain along the b-axis direction

A new AgI complex based on 1-[(1H-benzimidazol-1-yl)meth­yl]-1H-1,2,4-triazole

In the title complex, bis­{μ-1-[(1H-benzimidazol-1-yl)meth­yl]-1H-1,2,4-triazole}disilver(I) dinitrate, [Ag2(C10H9N5)2](NO3)2, the AgI ion is nearly linearly coordinated [N—Ag—N angle is 155.72 (14)°] by two 1-[(1H-benzimidazole-1-yl)meth­yl]-1H-1,2,4-triazole (bmt) ligands. In addition, two bmt ligands link two AgI ions, forming a dinuclear unit with an Ag⋯Ag distance of 5.0179 (15) Å. The whole complex is generated by an inversion centre. The dinuclear units and the NO3 − counter-ions are connected by N—H⋯O hydrogen bonds and weak Ag⋯O inter­actions [2.831 (5), 2.887 (5) and 2.908 (5) Å], leading to a three-dimensional structure